Hierarchical sampling optimization of particle filter for global robot localization in pervasive network environment

This paper presents a hierarchical framework for managing the sampling distribution of a particle filter (PF) that estimates the global positions of mobile robots in a large‐scale area. The key concept is to gradually improve the accuracy of the global localization by fusing sensor information with different characteristics. The sensor observations are the received signal strength indications (RSSIs) of Wi‐Fi devices as network facilities and the range of a laser scanner. First, the RSSI data used for determining certain global areas within which the robot is located are represented as RSSI bins. In addition, the results of the RSSI bins contain the uncertainty of localization, which is utilized for calculating the optimal sampling size of the PF to cover the regions of the RSSI bins. The range data are then used to estimate the precise position of the robot in the regions of the RSSI bins using the core process of the PF. The experimental results demonstrate superior performance compared with other approaches in terms of the success rate of the global localization and the amount of computation for managing the optimal sampling size.     

Stream-Based Data Sampling Mechanism for Process Object

Process object is the instance of process. Vertexes and edges are in the graph of process object. There are different types of the object itself and the associations between object. For the large-scale data, there are many changes reflected. Recently, how to find appropriate real-time data for process object becomes a hot research topic. Data sampling is a kind of finding c hanges o f p rocess o bjects. There i s r equirements f or s ampling to be adaptive to underlying distribution of data stream. In this paper, we have proposed a adaptive data sampling mechanism to find a ppropriate d ata t o m odeling. F irst o f all, we use concept drift to make the partition of the life cycle of process object. Then, entity community detection is proposed to find changes. Finally, we propose stream-based real-time optimization of data sampling. Contributions of this paper are concept drift, community detection, and stream-based real-time computing. Experiments show the effectiveness and feasibility of our proposed adaptive data sampling mechanism for process object.     

不同热解工艺下半焦的微观结构特点及其对燃烧性能的影响

摘要：对比研究了3种直立内热炉半焦(熄焦方式分别为水泡熄焦、喷水熄焦及烟气干熄焦)及一种流化床热解半焦的微观结构及燃烧性能。通过对半焦组成、孔隙结构、有机官能团、碳化学结构及半焦微晶结构分析，获得了不同低温热解工艺半焦的组成及微观结构特点，明确了组成及微观结构与燃烧性能之间的关系。结果表明，不同热解工艺半焦的组成和微观结构差异明显，其对半焦的燃烧性能影响显著。干熄焦碳化学结构缺陷比例大，快速热解半焦孔隙结构发0达、挥发分高，与水喷焦相比水泡焦石墨化程度低；水喷焦燃烧性能优于水泡焦，干法所得半焦的燃烧性优于湿法；半焦的挥发分含量决定其燃点，在快升温速率条件下孔隙结构对半焦的燃烧性能影响较大，而慢升温速率条件下有序化度对半焦的燃烧性能影响较大。     

Corrosion behavior of under‐, peak‐, and over‐aged 6063 alloy: A comparative study

The mechanical property of age‐hardenable Al‐alloys is governed by the state of ageing, which determines the microstructure and consequently, their corrosion behavior which is a vital aspect for a number of applications. This article presents a comparative assessment of corrosion behavior of under‐, peak‐ and over‐aged Al‐Mg‐Si alloy. Corrosion characteristics have been determined via immersion tests in 0.1 M ortho‐phosphoric acid solution and intergranular corrosion (IGC) tests. Corroded surfaces are examined by field emission scanning electron micrographs‐energy dispersive spectroscopy and 3D optical profilometer. The obtained results reveal that the corrosion rate at a specific immersion time as well as the depth of IGC increases in the order for under‐, peak‐, and over‐aged states. Irrespective of the state of ageing, corrosion loss increases linearly but the rate of corrosion decreases rapidly with increasing immersion time. The dominant mode of corrosion in under‐aged alloy is identified as localized pitting, while peak‐aged is highly susceptible to IGC in contrast extensive pitting corrosion is observed for over‐aged alloy. The observed differences in corrosion behavior are explained considering characteristics of precipitates. Formation of β (Mg₂Si) in case of over‐aged alloy and presence of inclusions like AlFeMnSi particles are found to accelerate pitting corrosion.     

提高加盖钢包自开率的研究与实践

首钢京唐300t钢包加盖后自开率明显下降，分析了加盖钢包自开率下降的机理，确定了主要原因是包衬温度升高后造成的液态渣回流。通过对引流砂的流动性、密度和渗钢性研究，设计了一种适用于加盖钢包的引流砂成分配比，并通过控制Al2O3和MgO含量，保证铬矿砂纯度。改进了钢包热修工艺，设计了针对加盖钢包的投砂操作和防钢渣回流措施。研究结果经推广使用后，钢包月不自开炉数由8～9炉降低至2炉以内，综合自开率达99.9%，双精炼工艺自开率达100%。     

采用八叉树和OSG分页结点的海量点云三维可视化

针对现有海量点云可视化方法存在索引构建时间长、内存占用大等问题，研究一种八叉树索引结合OSG分页结点的快速可视化方法，可在占用较小内存的基础上快速建立点云索引并实时调度。采用八叉树索引结构对海量点云进行数据组织，建立各层级的八叉树结点并以文件映射的方式分块保存，对结点文件重组织转换为支持OSG渲染引擎的多分辨率点云数据。采用基于OSG分页结点的实时调度技术，对海量点云进行高质量可视化。与目前两款主流的点云数据处理商业软件进行实验对比分析，结果表明所提方法具有索引建立速度快、内存占用小等优点，同时可视化交互更加流畅，适用于各种配置计算机下海量点云数据的调度管理与实时可视化。     

负径向电场对带电粒子俘获率影响的数值模拟

本文采用数值方法求解Grad-Shafranov方程反演EAST典型长脉冲放电实验(炮号33068)的平衡位形和磁场分布，进而结合粒子在托卡马克电磁场中的运动方程，模拟氘离子在负径向电场存在时的运动轨迹，并统计不同负径向电场下的氘离子俘获率。结果表明：随负径向电场的增大，氘离子轨迹由扩张通行轨迹向外翻香蕉轨迹再向内翻香蕉轨迹，最后向压缩通行轨迹演变；氘离子俘获率随负径向电场的增大而减小，氘离子初始速度越小，其变化越大。     

On the capacity of the state‐dependent interference relay channel

This paper considers the state‐dependent interference relay channel (SIRC) in which one of the two users may operate as a secondary user and the relay has a noncausal access to the signals from both users. For discrete memoryless SIRC, we first establish the achievable rate region by carefully merging Han‐Kobayashi rate splitting encoding technique, superposition encoding, and Gelfand‐Pinsker encoding technique. Then, based on the achievable rate region that we derive, the capacity of the SIRC is established in many different scenarios including (a) the weak interference regime, (b) the strong interference regime, and (c) the very strong interference regime. This means that our capacity results contain all available known results in the literature. Next, the achievable rate region and the associated capacity results are also evaluated in the case of additive Gaussian noise. Additionally, many numerical examples are investigated to show the value of our theoretical derivations.     

Chaos-Based transmitted-reference ultra-wideband communications

Transmitted-reference (TR) ultra-wideband (UWB) communication systems have gained increasing popularity for the usage in the low data rate application, due to its non-coherent receiver structure. In conventional TR system, non-coherency at the receiver is achieved by sending reference pulses prior to the data-bearing pulses. Then, at the receiver side, reference pulses are used as template signals for correlation with data-bearing pulses. Therefore, the orthogonality between reference and data pulses is obtained in time division multiple access (TDMA) fashion. However, the implementation of a wideband delay line is very difficult in the current low power integrated circuits. In this paper, a TR method called Chaos-Based TR (CB-TR) is proposed. In the proposed method, chaotic sequences are used to separate the reference and data pulses. Such approach exploits the benefits of chaotic signals, such as non-periodicity, easy-to-generate, impulse-like autocorrelation value and low cross-correlation value. Furthermore, in order to decrease the influence of some negative properties of conventional chaotic maps, a modified chaotic generator (MCS) is proposed. Simulation results over the IEEE 802.15.4a channel model show comparable bit error rate performance to other TR methods.     

基于分支定界法的相控阵雷达事件调度算法

为解决相控阵雷达事件调度问题中调度成功率、时间偏移率与算法时效性三者之间的矛盾，本文提出一种基于分支定界法的调度算法；该算法首先在现有调度结果上调取所有可执行事件，即获得若干"节点"，多步递推后由多"层"节点形成若干条备选"分支"，扩大解空间范围，提高算法性能；然后通过"删减"操作删减掉收益较低分支，将解空间控制在一适当范围内，减小搜索盲目性，降低算法计算量.仿真实验表明，与基于综合优先级算法的调度结果相比，利用本文算法调度时调度成功率提升了52%；与基于时间指针算法的调度结果相比，本身算法时间偏移率降低了61%；与基于遗传算法的调度结果相比，本文算法调度耗时仅为前者1~2%.